acados: relative rpath #35624

Armandpl · 2025-07-02T00:47:10Z

No description provided.

maxime-desroches · 2025-07-02T01:25:39Z

You will probably also need to change the paths for these kernels:

Lines 24 to 26 in f726717

    
           for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): 
        
             for xenv in (lenv, lenvCython): 
        
               xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')

Armandpl · 2025-07-10T21:14:44Z

on macos

master:
pytest -n 0 controls/tests/test_lateral_mpc.py

_____________________________________ ERROR collecting selfdrive/controls/tests/test_lateral_mpc.py _____________________________________
ImportError while importing test module '/Users/armand/openpilot/selfdrive/controls/tests/test_lateral_mpc.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
../../.local/share/uv/python/cpython-3.12.9-macos-aarch64-none/lib/python3.12/importlib/__init__.py:90: in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
controls/tests/test_lateral_mpc.py:3: in <module>
    from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
../openpilot/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py:13: in <module>
    from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
E   ImportError: dlopen(/Users/armand/openpilot/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so, 0x0002): Library not loaded: selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib
E     Referenced from: <F1121830-F6B3-339F-B440-76B75BA0E82A> /Users/armand/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
E     Reason: tried: 'selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib' (no such file), '/System/Volumes/Preboot/Cryptexes/OSselfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib' (no such file), 'selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.dylib' (no such file)
======================================================== short test summary info ========================================================
ERROR controls/tests/test_lateral_mpc.py

pytest -n 0 car/tests/test_cruise_speed.py

========================================================== test session starts ==========================================================
platform darwin -- Python 3.12.9, pytest-8.3.4, pluggy-1.5.0
Using --randomly-seed=2445063021
rootdir: /Users/armand/openpilot
configfile: pyproject.toml
plugins: randomly-3.16.0, cov-6.0.0, cpp-2.6.0, subtests-0.14.1, repeat-0.9.3, asyncio-0.25.3, hypothesis-6.47.5, timeout-2.3.1, mock-3.14.0, xdist-3.6.1
asyncio: mode=Mode.STRICT, asyncio_default_fixture_loop_scope=function
collected 17 items

car/tests/test_cruise_speed.py Fatal Python error: Aborted

Current thread 0x00000001fcaec840 (most recent call first):
  File "/Users/armand/openpilot/msgq/__init__.py", line 30 in pub_sock
  File "/Users/armand/openpilot/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py", line 22 in __init__
  File "/Users/armand/openpilot/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py", line 32 in evaluate
  File "/Users/armand/openpilot/selfdrive/car/tests/test_cruise_speed.py", line 29 in run_cruise_simulation
  File "/Users/armand/openpilot/selfdrive/car/tests/test_cruise_speed.py", line 43 in test_cruise_speed
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/python.py", line 159 in pytest_pyfunc_call
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/python.py", line 1627 in runtest
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 174 in pytest_runtest_call
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 242 in <lambda>
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 341 in from_call
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 241 in call_and_report
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 132 in runtestprotocol
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 113 in pytest_runtest_protocol
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 362 in pytest_runtestloop
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 337 in _main
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 283 in wrap_session
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 330 in pytest_cmdline_main
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/config/__init__.py", line 175 in main
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/config/__init__.py", line 201 in console_main
  File "/Users/armand/openpilot/.venv/bin/pytest", line 10 in <module>

Extension modules: numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, common.params_pyx, openpilot.common.params_pyx, capnp.lib.capnp, msgq.ipc_pyx, zstandard.backend_c, _cffi_backend, charset_normalizer.md, requests.packages.charset_normalizer.md, requests.packages.chardet.md, zmq.backend.cython._zmq, setproctitle._setproctitle, common.transformations.transformations, openpilot.common.transformations.transformations, opendbc.can.parser_pyx, acados_template.acados_ocp_solver_pyx, openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx, casadi._casadi (total: 30)
zsh: abort      pytest -n 0 car/tests/test_cruise_speed.py

this branch:
pytest -n 0 controls/tests/test_lateral_mpc.py

collected 7 items

controls/tests/test_lateral_mpc.py .......                                                                                        [100%]

========================================================= slowest 10 durations ==========================================================
0.03s call     selfdrive/controls/tests/test_lateral_mpc.py::TestLateralMpc::test_switch_convergence
0.01s teardown selfdrive/controls/tests/test_lateral_mpc.py::TestLateralMpc::test_straight
0.01s call     selfdrive/controls/tests/test_lateral_mpc.py::TestLateralMpc::test_straight

(7 durations < 0.005s hidden.  Use -vv to show these durations.)
=========================================================== 7 passed in 0.41s ===========================================================

pytest -n 0 car/tests/test_cruise_speed.py

========================================================== test session starts ==========================================================
platform darwin -- Python 3.12.9, pytest-8.3.4, pluggy-1.5.0
Using --randomly-seed=410578989
rootdir: /Users/armand/openpilot
configfile: pyproject.toml
plugins: randomly-3.16.0, cov-6.0.0, cpp-2.6.0, subtests-0.14.1, repeat-0.9.3, asyncio-0.25.3, hypothesis-6.47.5, timeout-2.3.1, mock-3.14.0, xdist-3.6.1
asyncio: mode=Mode.STRICT, asyncio_default_fixture_loop_scope=function
collected 17 items

car/tests/test_cruise_speed.py Fatal Python error: Aborted

Current thread 0x00000001fcaec840 (most recent call first):
  File "/Users/armand/openpilot/msgq/__init__.py", line 30 in pub_sock
  File "/Users/armand/openpilot/openpilot/selfdrive/test/longitudinal_maneuvers/plant.py", line 22 in __init__
  File "/Users/armand/openpilot/openpilot/selfdrive/test/longitudinal_maneuvers/maneuver.py", line 32 in evaluate
  File "/Users/armand/openpilot/selfdrive/car/tests/test_cruise_speed.py", line 29 in run_cruise_simulation
  File "/Users/armand/openpilot/selfdrive/car/tests/test_cruise_speed.py", line 43 in test_cruise_speed
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/python.py", line 159 in pytest_pyfunc_call
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/python.py", line 1627 in runtest
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 174 in pytest_runtest_call
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 242 in <lambda>
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 341 in from_call
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 241 in call_and_report
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 132 in runtestprotocol
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/runner.py", line 113 in pytest_runtest_protocol
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 362 in pytest_runtestloop
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 337 in _main
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 283 in wrap_session
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/main.py", line 330 in pytest_cmdline_main
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_callers.py", line 103 in _multicall
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_manager.py", line 120 in _hookexec
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/pluggy/_hooks.py", line 513 in __call__
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/config/__init__.py", line 175 in main
  File "/Users/armand/openpilot/.venv/lib/python3.12/site-packages/_pytest/config/__init__.py", line 201 in console_main
  File "/Users/armand/openpilot/.venv/bin/pytest", line 10 in <module>

Extension modules: numpy.core._multiarray_umath, numpy.core._multiarray_tests, numpy.linalg._umath_linalg, numpy.fft._pocketfft_internal, numpy.random._common, numpy.random.bit_generator, numpy.random._bounded_integers, numpy.random._mt19937, numpy.random.mtrand, numpy.random._philox, numpy.random._pcg64, numpy.random._sfc64, numpy.random._generator, common.params_pyx, openpilot.common.params_pyx, capnp.lib.capnp, msgq.ipc_pyx, zstandard.backend_c, _cffi_backend, charset_normalizer.md, requests.packages.charset_normalizer.md, requests.packages.chardet.md, zmq.backend.cython._zmq, setproctitle._setproctitle, common.transformations.transformations, openpilot.common.transformations.transformations, opendbc.can.parser_pyx, acados_template.acados_ocp_solver_pyx, openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx, casadi._casadi (total: 30)
zsh: abort      pytest -n 0 car/tests/test_cruise_speed.py

Copilot

Pull Request Overview

This PR refactors the build system to use relative runtime paths (rpath) for acados library dependencies instead of hardcoded absolute paths. The changes improve portability by making the built libraries locate their dependencies relative to their installation location rather than relying on environment variables.

Replaces absolute LD_LIBRARY_PATH/DYLD_LIBRARY_PATH environment variables with relative $ORIGIN-based rpath settings
Updates both longitudinal and lateral MPC library build configurations to use consistent relative pathing
Modifies linking approach for Cython modules to use LIBPATH and explicit library names instead of absolute paths

Reviewed Changes

Copilot reviewed 3 out of 3 changed files in this pull request and generated 2 comments.

File	Description
SConstruct	Removes hardcoded LD_LIBRARY_PATH and DYLD_LIBRARY_PATH, initializes empty rpath list
selfdrive/controls/lib/longitudinal_mpc_lib/SConscript	Adds relative rpath configuration for acados dependencies and updates Cython linking
selfdrive/controls/lib/lateral_mpc_lib/SConscript	Adds relative rpath configuration and Darwin-specific linking flags for lateral MPC

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

selfdrive/controls/lib/lateral_mpc_lib/SConscript

Co-authored-by: Copilot <[email protected]>

This reverts commit a55077f.

This reverts commit 07a6a26.

Armandpl added 3 commits July 1, 2025 17:45

opendbc/SharedLibrary

5b81d7b

acados, mpc don't link to absolute paths

55cbaa5

update opendbc

b1c6fed

Armandpl added 5 commits July 1, 2025 19:34

include gen path, dont include abs path

3d4821c

escape escape

fa4cc71

move rpath to relative path in mpc SConscripts

dce5de4

clean up

1694bd1

missing libs

efc4a3f

Armandpl changed the title ~~make build portable~~ acados: use rpath Jul 3, 2025

Armandpl changed the title ~~acados: use rpath~~ acados: relative rpath Jul 3, 2025

Armandpl added 5 commits July 3, 2025 00:17

don't update opendbc

008fbd8

rpath literal and rel_path

5c3d843

ld library path is for runtime?

f61e87b

same for darwin

19e6089

build on macos

d1c38e0

Armandpl marked this pull request as ready for review July 10, 2025 02:04

Armandpl requested review from Copilot and sshane July 10, 2025 21:17

Copilot AI reviewed Jul 10, 2025

View reviewed changes

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript Outdated Show resolved Hide resolved

selfdrive/controls/lib/lateral_mpc_lib/SConscript Outdated Show resolved Hide resolved

Armandpl and others added 5 commits July 10, 2025 14:18

Update selfdrive/controls/lib/lateral_mpc_lib/SConscript

376d5bf

Co-authored-by: Copilot <[email protected]>

Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

a55077f

Co-authored-by: Copilot <[email protected]>

Revert "Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript"

07a6a26

This reverts commit a55077f.

Reapply "Update selfdrive/controls/lib/longitudinal_mpc_lib/SConscript"

d18d4d1

This reverts commit 07a6a26.

Merge branch 'master' into portable-build

af1c04d

Armandpl merged commit 3c43a00 into master Jul 11, 2025
16 checks passed

Armandpl deleted the portable-build branch July 11, 2025 01:59

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acados: relative rpath #35624

acados: relative rpath #35624

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Armandpl commented Jul 2, 2025

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acados: relative rpath #35624

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Armandpl commented Jul 2, 2025

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Pull Request Overview

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